Quote:
Originally Posted by calcmogul
Oblarg is correct that the behavior of the velocity PID tuning constants doesn't match the displacement PID. I tried to get something with close enough dynamics that teams could use a similar tuning procedure for both (except in the velocity case, there's no steady-state error so I made Ki not do anything).
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This is totally reasonable, and in practice you need an integrator if your loop rate is slow or you are concerned about the effects of rapid oscillation on the lifetime of your mechanical components.
Quote:
Originally Posted by calcmogul
e_ss = 1/(1+Kp*K/(bR+K^2))
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e_ss approaches zero as Kp approaches infinity, and the closed-loop transfer function is stable for all positive values of Kp.